CN105962981B - A kind of articulation structure and the stapler with the structure - Google Patents
A kind of articulation structure and the stapler with the structure Download PDFInfo
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- CN105962981B CN105962981B CN201610403158.2A CN201610403158A CN105962981B CN 105962981 B CN105962981 B CN 105962981B CN 201610403158 A CN201610403158 A CN 201610403158A CN 105962981 B CN105962981 B CN 105962981B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A61B17/32093—Incision instruments for skin incisions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07271—Stapler heads characterised by its cartridge
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
- A61B2017/07285—Stapler heads characterised by its cutter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0204—Operational features of power management
- A61B2560/0214—Operational features of power management of power generation or supply
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention discloses a kind of articulation structure, to realize the servo-actuated action of an abdominal cavity anastomat comprising：One trigger element, to realize that a first angle rotates；One first transfer unit, the first angle to generate the trigger element are converted into one first translation；One second transfer unit, to convert first translation to second angle rotation；One execution unit, the third angle to convert the second angle of second transfer unit to the corresponding first angle rotation rotate.In this way, the execution unit of stapler can be curved using the articulation structure, and the adjustment of the angle of articulation structural break formula is become to the stepless rotation formula of continuous angle, the precision and use scope for substantially increasing surgical instrument meet the needs of to required angle in the occasion that surgical environments are harsh, operating difficulty is higher and operation fine degree is more demanding.
Description
Technical field
The present invention relates to stapler fields, and in particular to a kind of articulation structure and the stapler with the structure.
Background technology
Stapler is the equipment of the replacement manual suture medically used, the development due to modern science and technology and manufacturing technology
Improve, the stapler reliable in quality clinically used at present is easy to use, tight, elastic suitable, especially its suture quickly,
The advantages that easy to operate and few side effects and postoperative complication, also so that the tumor operation that can not be cut off in the past is able to aura
Excision, very by the favor and high praise of domestic and international Clinical Surgery doctor.Stapler main operational principle be using titanium nail to organize into
Row detachment is coincide, and stapler is similar to.
Since the front end of stapler is typically straight-bar, straight-bar usually can not be matched and be coincide to lesion well, be
The more application environments of adaptation, in the case where operative space and angle are restricted, to realize confined space finite angle
Sewing process under the surgical environments of degree, it is therefore desirable to a kind of rotational structure is designed, so as to which the front end by stapler is rod-shaped
Structure is curved.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
Invention content
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of articulation structure, uses
To realize the servo-actuated action of an abdominal cavity anastomat comprising：
One trigger element, to realize that a first angle rotates；
One first transfer unit, it is flat that the first angle to generate the trigger element is converted into one first
It is dynamic；
One second transfer unit, to convert first translation to second angle rotation；
One execution unit, the second angle of second transfer unit is converted into corresponding described first jiao
The third angle rotation of degree rotation,
The first angle rotates degree of rotation<360 degree.
Preferably, first transfer unit includes：One sliding block and a linkage portion, the sliding block bottom are inclined equipped with one
Inclined ramp, the inclined ramp are slidably connected with described linkage portion one end, and the inclined ramp is used to convert one second translation
For first translation.
Preferably, the trigger element includes：One rotational handle is the operation handle of the articulation structure；One
Rotate gear, is used to transmit the operating force of the rotational handle, and the rotate gear is equipped with tooth-shape structure；The sliding block one
Side is equipped with slides rack with what the tooth-shape structure in the rotate gear was meshed.
Preferably, the linkage portion includes：One catenating slider is used to be embedded in the inclined ramp and is slided along the inclination
It slides in road；One rotation STATEMENT OF FEDERALLY SPONSORED, is used to be rotatably assorted with the catenating slider；One locking pull lever, is used to extend described
The transmission distance of first translation；The rotation STATEMENT OF FEDERALLY SPONSORED is internally provided with one male connector/female, and the locking pull lever one end is equipped with
The female of corresponding female/male connector, the male connector/female rotated in STATEMENT OF FEDERALLY SPONSORED and described locking pull lever one end/
Male connector is mutually clamped.
Preferably, second transfer unit includes an eccentric projection gear, one is provided on the eccentric projection gear
Eccentric projection, the eccentric projection are located at the non-center location on the eccentric projection gear, and the eccentric projection is cylinder；
Locking pull lever other end setting one stroke hole, the eccentric projection are placed in the stroke hole, the locking pull lever
It is moved along first translational direction, the eccentric projection gear is driven to be rotated around the gear center of circle；The stroke hole is parallel to institute
The size for stating the first translational direction is identical as the eccentric projection diameter dimension, and the stroke hole is perpendicular to the first translation side
To size be more than the eccentric projection diameter dimension；The eccentric projection gear is meshed with the execution unit.
Preferably, second transfer unit includes a rack piece, rack piece one end is solid with the locking pull lever
Fixed connection, the rack on piece are equipped with tooth, and second transfer unit further includes an one-stage gear and a secondary gear, and described one
Grade gear is engaged with the secondary gear and can be rotated around respective axis, and the rack piece is engaged with the one-stage gear, described
Secondary gear is meshed with the execution unit.
Preferably, it is described slide rack both sides and be respectively provided with one slide limited block；It is provided with anti-dropout on the execution unit
End face is more than limitation for preventing the execution unit rotational angle.
Preferably, the articulation structure further includes a rotary joint, it is logical that a sliding block is provided on the rotary joint
Hole, the slider throughbores are moved for placing the sliding block and limiting the sliding block along the second translational direction.
A kind of stapler with articulation structure as described above.
Compared with the prior art the beneficial effects of the present invention are：1, the angle of articulation structural break formula is adjusted and is become
For the stepless rotation formula of continuous angle, the precision and use scope of surgical instrument are substantially increased, when increasing doctor's operation
To the selectivity of surgical instrument rotational angle, and surgical environments are harsh, operating difficulty is higher and operation fine degree requirement
Higher occasion meets the needs of to required angle；2, the rotational handle is rotated by one hand and the articulation can be realized
The angle of structure adjusts, and reduces operation complexity, increases the possibility for carrying out subtle angle adjustment in patient's body, to
The flexibility for increasing surgical instrument avoids passing in and out patient's wound repeatedly, causes unnecessary damage；3, described to slide rack two
Side is respectively provided with one and slides limited block, when the tooth of the rotate gear turns to described slide on limited block, the rotate gear
Rotational action by resistance, the rack that slides being meshed therewith stops movement, to prevent described sliding rack and slide
Apart from excessive, fall off from the articulation structure；4, the joint turn can be greatly prolonged by the locking pull lever being arranged
Command range of the structure to execution unit is moved, to realize the remote control to execution unit.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is the schematic diagram of the articulation structure of the present invention；
Fig. 2 is the schematic internal view of the articulation structure of the present invention；
Fig. 3 is the rotate gear schematic diagram of the articulation structure of the present invention；
Fig. 4 is the sliding block schematic diagram of the articulation structure of the present invention；
Fig. 5 is the locking pull lever connection diagram of the articulation structure of the present invention；
Fig. 6 is the rotation section schematic diagram one of the articulation structure of the present invention；
Fig. 7 is the rotation section schematic diagram two of the articulation structure of the present invention；
Fig. 8 is the execution unit limit schematic diagram of the articulation structure of the present invention；
Fig. 9 is clamping subelement external structure schematic diagram；
Figure 10 is clamping subelement tail end internal structure schematic diagram；
Figure 11 is staple cartridge tray structure of glide path schematic diagram；
Figure 12 is resist-nailed seat internal structure schematic diagram；
Figure 13 is cutter structural schematic diagram；
Figure 14 is nail bin groupware structural schematic diagram；
Figure 15 is gun barrel overall structure sectional view；
Figure 16 is clamping transmission subunit front-end architecture schematic diagram；
Figure 17 is clamping transmission subunit end construction schematic diagram；
Figure 18 is the first fixing sleeve structural schematic diagram；
Figure 19 is shearing transmission subunit structural schematic diagram；
Figure 20 is rotary drive sub-unit structure schematic diagram；
Figure 21 is head position view in rotation；
Figure 22 is rotation STATEMENT OF FEDERALLY SPONSORED structural schematic diagram；
Figure 23 is rotary joint schematic internal view；
Figure 24 is the connection diagram of inner core and rotation STATEMENT OF FEDERALLY SPONSORED；
Figure 25 is rotary head structural schematic diagram；
Figure 26 is rotating base structural schematic diagram；
Figure 27 is locked out rod structure schematic diagram；
Figure 28 is automatic reset structure schematic diagram；
Figure 29 is rotational structure schematic diagram.
Specific implementation mode
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
As shown in Figure 1 and Figure 2, the articulation structure provided by the invention, to realize an abdominal cavity anastomat with
Action comprising：
One trigger element, to realize that a first angle rotates；
One first transfer unit, it is flat that the first angle to generate the trigger element is converted into one first
It is dynamic；
One second transfer unit, to convert first translation to second angle rotation；
One execution unit, the second angle of second transfer unit is converted into corresponding described first jiao
The third angle rotation of degree rotation, the first angle rotate degree of rotation<360 degree.
Shown in Figure 3, the trigger element includes：One rotational handle 257 is the behaviour of the articulation structure
Make handle, 257 outside of the rotational handle is handle arrangement, and the personnel that are conveniently operated hold and apply to the rotational handle 257
Rotary torsion, the rotational handle 257 are internally provided with groove；One rotate gear 256, is used to transmit the rotational handle 257
Operating force, the rotate gear 256 is for pivoting and drives the subsequent parts that contact therewith, the rotate gear
256 tops are equipped with convex block, and the convex block on 256 top of the rotate gear is consistent with the groove shapes inside the rotational handle 257
Mutually clamping, 256 lower part of the rotate gear are gear structure；The sliding block 255 is used for flat along second translational direction
Row is mobile simultaneously to act on power the subsequent parts being attached thereto, and the sliding block 255 is in contact side with the rotate gear 256
Equipped with rack 2551 is slided, the tooth form for sliding rack 2551 is matched with the tooth form of the rotate gear 256, convenient for described
Rotate gear 256 drives the rack 2551 that slides to move；It is described slide 2551 both sides of rack and be respectively provided with one slide limited block, use
In the rotation for limiting the rotate gear 256；
The rotational handle 257 is rotated, under force, the groove drive inside the rotational handle 257 blocks therewith
The convex block on 256 top of the rotate gear connect makes the gear of 256 lower part of the rotate gear be rotated about axis, the rotation
The gear of 256 lower part of gear stirs contact therewith described and slides rack 2551, and then the sliding block 255 is along described second
Translational direction does translational motion, when the tooth of the rotate gear 256 turns to described slide on limited block, the rotate gear
For 256 rotational action by resistance, the rack 2551 that slides being meshed therewith stops movement, to prevent described sliding tooth
2551 coasting distance of item is excessive, falls off from the articulation structure.
Shown in Figure 4, first transfer unit includes：One sliding block 255 and a linkage portion, the sliding block
255 bottoms are additionally provided with an inclined ramp 2552, and the inclined ramp is slidably connected with described linkage portion one end, the inclined ramp
For converting one second translation to first translation；The extending direction of the inclined ramp and first translational direction and
Second translational direction forms an angle.
The linkage portion includes：One catenating slider 254,2552 inside of the inclined ramp are embedded with the catenating slider 254,
And the catenating slider 254 is enable to be slided along the inclined ramp 2552, since the inclined ramp 2552 is slided described
255 bottom of block is to be obliquely installed, and when the sliding block 255 is fixed, the catenating slider 254 is in the inclined ramp 2552
When internal slide, the catenating slider 254 will produce perpendicular to the displacement slided on 2551 direction of rack；Conversely, working as institute
State catenating slider 254 with it is described slide fixed on the parallel direction of rack 2551 when, the sliding block 255 is relatively described
When catenating slider 254 slides, the sliding block 255 will push the catenating slider 254 to slide rack 2551 along perpendicular to described
It moves in direction；254 bottom of the catenating slider is additionally provided with an axis pin, and the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is equipped with a pin hole, described
Axis pin is matched with the pin hole, and in conjunction with shown in Fig. 1, a slider throughbores, the sliding block are provided on the rotary joint 252 '
Through-hole limits the sliding block 255 and slides rack along perpendicular to described for placing the sliding block 255, the slider throughbores
It is moved on 2551 directions；The rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is placed in outside a stock, therefore the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' only can edge
The axis direction of the stock is moved, i.e., the described rotation STATEMENT OF FEDERALLY SPONSORED 253 ' only can slide 2551 side of rack along perpendicular to described
It moves up, the catenating slider 254 being connected with the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' equally only can slide tooth along perpendicular to described
Item moves on 2551 direction；
The linkage portion further includes：One rotation STATEMENT OF FEDERALLY SPONSORED 253 ', is used to be rotatably assorted with the catenating slider；One locking
Pull lever 2743 ' is used to extend the transmission distance of first translation；
The rotational handle 257 is rotated, 256 pivoting of the rotate gear, the rotate gear 256 is driven to stir institute
It states and slides rack 2551,2551 direction of rack is slided along perpendicular to described since the slider throughbores limit the sliding block 255
Upper movement, the sliding block 255 described slide 2551 direction of rack and do translational motion along being parallel to；Due to the catenating slider
254 can only move along perpendicular to described slide on 2551 direction of rack, the inclined ramp 2552 under the action of slideway gradient,
The catenating slider 254 is pushed to be moved on 2551 direction of rack perpendicular to described slide on 2552 inside edge of the inclined ramp,
In turn, the catenating slider 254 drives 253 ' edge of the rotation STATEMENT OF FEDERALLY SPONSORED to be moved on 2551 direction of rack perpendicular to described slide.
Shown in Figure 5, the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is internally provided with one male connector/female, the locking pull lever
2743 ' one ends are equipped with corresponding female/male connector, male connector/female in the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' and the lock
Female/the male connector for determining 2743 ' one end of pull lever is mutually clamped, and the rotation STATEMENT OF FEDERALLY SPONSORED 253 ' is made to drive the locking pull lever
2743 ' movements, and the direction of motion is consistent；The locking pull lever 2743 ', which is arranged, can greatly prolong the articulation structure
To the command range of execution unit, to realize the remote control to execution unit.
Shown in Figure 6, second transfer unit includes an eccentric projection gear 278, the eccentric projection gear
An eccentric projection is provided on 278, the eccentric projection is located at the non-center location on the eccentric projection gear 278, described
Eccentric projection gear 278 is rotated around the gear center of circle, and the eccentric projection is cylinder；2743 ' the other end of locking pull lever
One stroke hole 27431 is set, and the eccentric projection is placed in the stroke hole 27431, and the stroke hole 27431 is parallel to described
Lock the 2743 ' direction of motion of pull lever size it is identical as the eccentric projection diameter dimension, the stroke hole 27431 perpendicular to
The size of the locking 2743 ' direction of motion of pull lever is more than the diameter dimension of the eccentric projection；The articulation structure
Execution unit described in external connection, the execution unit includes a rotary head 271, for realizing the articulation structure
Rotational action, 271 one end of the rotary head are covering of the fan tooth-shape structure, the covering of the fan tooth-shape structure and the eccentric projection gear
278 engagements, the rotary head 271 can be rotated around an axis pin；As shown in figure 8,271 both sides of the rotary head are respectively provided with an anticreep
End face is fallen, when the rotary head 271 turns to certain angle, the anti-dropout end face is resisted, and the rotary head 271 is limited
Rotational angle be more than limitation, prevent the covering of the fan tooth-shape structure and the eccentric projection gear 278 to be detached from from meshing state.
When the locking pull lever 2743 ' moves along a straight line, the stroke hole 27431 drives the eccentric projection to transport
Dynamic, since the eccentric projection is limited on the direction for being parallel to the locking pull lever 2743 ', the eccentric projection is only capable of
It is enough that the linear motion relative to the stroke hole 27431 is being done on the direction of the locking pull lever 2743 ', at this point,
Under the drive of the eccentric projection, the eccentric projection gear 278 does the action around axis rotation, so drive with it is described partially
The rotary head 271 that cardiac prominence block gear 278 is meshed does the action rotated around axis pin；Due to the movement rail of the eccentric projection
Mark is the circular motion around 278 axle center of eccentric projection gear, described inclined when the locking pull lever 2743 ' stopping movement
The movement locus of cardiac prominence block is limited, then the eccentric projection gear 278 stops operating, so with the eccentric projection gear
The rotational motion of 278 rotary heads 271 being meshed is limited, and as needed, the rotary head 271 can be fixed any
Required angle, to realize the stepless rotation of the rotary head 271.
As shown in fig. 7, different from articulation structure described above, the linkage portion includes a rack piece 279, described
279 one end of rack piece is fixedly connected with the locking pull lever 2743 ', and the rack piece 279 is equipped with tooth, the rotation section packet
Include one-stage gear 2781 ' and secondary gear 2782 ', the one-stage gear 2781 ' engages with the secondary gear 2782 ' and can be around
Respective axis rotation, the rack piece 279 are engaged with the one-stage gear 2781 ', the secondary gear 2782 ' and the rotation
First 271 are meshed；The rack piece 279 first translational direction movement described in the drive lower edge of the locking pull lever 2743 ',
And then the one-stage gear 2781 ' is driven to rotate, the one-stage gear 2781 ' drives the secondary gear being engaged with
2782 ' rotations, and then under the drive of the secondary gear 2782 ', realize the stepless rotation of the rotary head 271.
The articulation structure further includes a rotary joint 252 ', and it is logical that a sliding block is provided on the rotary joint 252 '
Hole, the slider throughbores are transported for placing the sliding block 255 and limiting the sliding block 255 along second translational direction
It is dynamic.
A kind of stapler with above-mentioned articulation structure, it is different from above structure, further include：
One execution unit, for realizing clamping, shearing and stapling function action；One gear unit, for transmitting power
To the execution unit；One control unit, the when program process realized for controlling above-mentioned function；One power unit, for defeated
Go out to be clamped, shear and stapling action power；One battery unit, for powering to motor and circuit.One clamps holding list
Member is in closed state for maintaining the close handles；One automatically resets unit, for make in non-locking state rotary head from
It is dynamic to reset.
The execution unit includes：One clamping subelement, a cutting subelement and a stapling subelement.
As shown in Fig. 9-Figure 12, the clamping subelement is used to complete the holding action to treatment object, the clamping
Subelement includes：Resist-nailed seat 111 and staple cartridge tray 121, the staple cartridge tray 121 are equipped with staple cartridge tray slideway 122, the staple cartridge tray slideway
122 both ends are respectively staple cartridge tray slipway location 1 and staple cartridge tray slipway location 2 1222, and 121 bottom of the staple cartridge tray is equipped with
One staple cartridge tray glidepath 124, the resist-nailed seat 111 include sliding rail 1112 on resist-nailed seat, resist-nailed seat forming tank 1113, resist-nailed seat cunning
Block 1111 and arc groove 1114, the resist-nailed seat sliding block 1111 are placed in staple cartridge tray slideway 122, can be along staple cartridge tray slideway 122
Sliding.1114 outer cover of the arc groove is equipped with the second holster 112, and second holster 112 has a convex block, when the second holster
When axial movement, power is acted on arc groove 1114 by the convex block, for making resist-nailed seat sliding block 1111 move.Nail is supported when described
Seat sliding block 1111 is located at staple cartridge tray slipway location 2 1222,111 open-shaped state of resist-nailed seat.When resist-nailed seat sliding block 1111 is located at
When at staple cartridge tray slipway location 1, resist-nailed seat 111 is in closed state.The clamping subelement passes through the second holster 112
It is axially moved the clamping for completing staple cartridge tray 121 and resist-nailed seat 111.
As shown in figure 13, the cutting subelement is used to carry out shear treatment to treatment object after stapling action.It is described
Cutting subelement include cutter 151.The cutter 151 include：Protrusion 152, cutting edge 153 and cutting on cutter
Knife sliding block 154.Sliding, the cutter sliding block 154 exist protrusion 152 in sliding rail 1112 on resist-nailed seat on the cutter
Sliding in staple cartridge tray glidepath 124.Cutter back convex block 155 is combined with push broach bar 231, and the push broach bar 231 pushes
Cutter 151 slide, for cutting object.
As shown in figure 14, the stapling subelement is used to complete the stapling action to treatment object.Stapling is single
Member includes nail bin groupware.The nail bin groupware includes nail bin 1231, anastomosis staple 1232, the first pushing slice of nail 1233, the second pushing slice of nail
1234, third pushing slice of nail 1235, ejector pin slide plate 1236 and nail bin cover 1237.The cutter 151 withstand ejector pin slide plate 1236 to
It is moved close to nail bin direction, under the action of ejector pin slide plate 1236, the first pushing slice of nail 1233, the second pushing slice of nail 1234 and third push away
Following closely piece 1235 drives anastomosis staple 1232 to fire upwards, and the anastomosis staple 1232 after percussion hits resist-nailed seat forming tank 1113, then kisses
Dowel 1232 becomes B fonts, completes suture.
The gear unit includes：One clamping transmission subunit, it is dynamic for transmitting clamping to the clamping subelement
Make；One stapling transmission subunit, for transmitting stapling action to the stapling subelement；One shearing transmission subunit, is used for
Shear action is transmitted to the cutting subelement；One rotary drive subelement, for transmitting spinning movement to clamping subelement；
One rotation transmission subunit, the rotational angle for locking the clamping subelement.
Wherein, the stapling transmission subunit and shearing transmission subunit share the same structure.
As shown in Figure 15-Figure 18, the clamping transmission subunit includes：Drive link 215, the first fixing sleeve 214, second
Fixing sleeve 213, the first holster 212, closing spring 218, the first connection sheet 2173 and the second connection sheet 2174, described first fixes
Set 214 is hinged by the first fixing sleeve axis pin 2141 and drive link 215.First fixing sleeve 214 is loop configuration, inside
Equipped with the first fixing sleeve card slot 2142.First holster 212 is equipped with the first holster card slot 2124.First holster 212
One end is put in inside the first fixing sleeve 214 so that the first holster card slot 2124 is docked with the first fixing sleeve card slot 2142 to be put
It sets, to form annular groove.Second fixing sleeve 213 is placed in the annular groove, is used for the first holster of clamping 212.
Therefore, first protective case 214, the second protective case 213 form fixed relationship with first holster 212, define described
First holster 212 can only be along axial movement defined in first holster 212, but does not limit it perpendicular to axial plane
Interior rotation.First holster, 212 other end and the second holster 112 pass through the first connection sheet 2173 and the second connection sheet 2174
Connection so that the axial movement of first holster 212 can drive the second holster 112 to be axially moved, and then control resist-nailed seat
111 open or close.
As shown in figure 19, the shearing transmission subunit includes：Rack 232, pull rod 233 and push broach bar 231, it is described
Push broach bar 231 includes four sub-links side by side, and described 231 one end of push broach bar is fixedly connected with cutter 151, the push broach bar
231 other ends are clamped with pull rod 233, and the pull rod 233 is also connect with rack 232.The pull rod 233 and the push broach bar
231 connection one end are equipped with pull rod groove 2331, for connecting the push broach bar 231.The push broach bar 231 is connect with pull rod 233
One end has push broach bar protrusion 2311, the push broach bar protrusion 2311 to be fixedly connected with the pull rod groove 2331.The rack
232 one end are equipped with rack clamping groove 2324, and the pull rod 233 connects 232 one end of the rack and is equipped with pull rod shackle member
2332, the pull rod shackle member 2332 is fixedly connected with the rack clamping groove 2324.
As shown in figure 20, the rotary drive subelement includes：Rotate fresh idea 251, rotary joint 252 and the first holster
212.The rotation fresh idea 251 is connected with the portion of the handle of stapler, and the holster 212 is used as probes into human body by minimally invasive mouth
An internal part, and an axis can be defined, the other structures for probeing into inside of human body are extended along the axis.
The rotary joint 252 includes opposite two parts, and two parts pass through the rotary joint and connect male connector
2521 connect with rotary joint female 2522 carry out it is affixed.
There are one rotary flower head portion and a rotary flower head-tail, shown rotary flower head portions for the shown tool of rotation fresh idea 251
It is mutually close with the rotary joint 252.The rotary flower head-tail is in flower shape, is used with the person of being conveniently operated.Such as Figure 21 institutes
Show, the rotation fresh idea 251 further includes head 2511 in a rotation wrapped up by the rotary joint 252, the rotation fresh idea
251 are attached by way of clamping with the rotary joint 252, and the rotary joint 252 can be driven to carry out edge
An axial direction defined in first holster 212 is moved, and the rotation fresh idea 251 can rotate, and drive
Other relevant structures are rotated, but the rotary joint 252 be not necessarily carried out at the same time with the rotation fresh idea 251 with
It is rotated in the vertical plane of axis defined in first holster 212.The rotation fresh idea 251 in the rotation,
First holster 212 can be driven to be rotated in the plane vertical with axis defined in first holster 212.
As shown in Figure 22, Figure 23, the rotary joint 252 is equipped with a rotation STATEMENT OF FEDERALLY SPONSORED 253, which is
One cyclic structure, the rotation STATEMENT OF FEDERALLY SPONSORED 253 are equipped with linkage invagination 2531, linkage protrusion 2532,2533 and of clamping groove
Clamping protrusion 2534.The clamping groove 2533 and clamping protrusion 2534 are connected together, and are used for fixedly locked pull lever 2743
One end far from locking level 274.The rotation STATEMENT OF FEDERALLY SPONSORED 253 is a cyclic structure, and the rotation STATEMENT OF FEDERALLY SPONSORED 253 first includes
One raised flange, the flange are mutually clamped with head in the rotation, and head can drive the rotation to link in the rotation
Part progress is moved along 212 axial direction of the first holster, and this movement in axial direction is by the flange and the rotation
Head clamping is realized in turning.
The rotation STATEMENT OF FEDERALLY SPONSORED 253 includes several linkages invagination 2531, and the linkage invagination 2531 links along the rotation
253 outer wall inward wall of part sink, and hole shape structure is formed in outer wall, forms protrusion in inner wall, the linkage invagination 2531 is described
The protrusion formed on inner wall can be matched with first holster 212, when the rotation STATEMENT OF FEDERALLY SPONSORED 253 is by head in the rotation
When 2511 drives are rotated, first holster 212 can be driven to be rotated, the rotation STATEMENT OF FEDERALLY SPONSORED 253 can be by institute
State head 2511 in rotation and drive rotation, be due to being provided with several linkages raised 2532 in the rotation STATEMENT OF FEDERALLY SPONSORED 253, it is described
Dynamic protrusion 2532 has good clamping with head 2511 in the rotation, when making the rotation of head 2511 in the rotation, drives institute
Linkage protrusion 2532 is stated to drive the rotation linkage block 253 to rotate.
It is the connection diagram of inner core and rotation STATEMENT OF FEDERALLY SPONSORED such as Figure 24.There are a tubulose skies in first holster 212
Chamber, including a tubular core 281, the inner core 281 has axis similar with first holster, but the axis and differs
It is fixed exactly the same with the axis of first holster 212.It is provided with the first inner core on the inner core 281 and lacks block 2811, the second inner core
It lacks block 2812 and lacks block 2813 with third inner core.Second inner core lacks block 2812 can be with 2531 progress of linkage invagination
Match, when the rotation linkage block 2531 is rotated in this way, the rotation linkage block 253 can be by lacking with the inner core
Linkage effect between block drives the inner core 281 to be rotated.
The rotation fresh idea 251 drives rotation linkage block 253 to be rotated by head 2511 in the rotation, the rotation
Linkage block 253 drives the inner core 281 to be rotated with first holster 212 by the rotation invagination 2531 being arranged thereon, goes forward side by side
One step drives other structures to be rotated.
The rotation linkage block 253 is synchronized movement, and institute by the rotation fresh idea 251 by head in rotation 2511
Rotary joint 252 is stated to wrap head 2511 in the rotation and the rotation linkage block 253.The inner core 281 is located at institute
It states within the first holster 212.
Linkage convex block 2532 is provided in the rotation linkage block 253, the linkage block can be with a locking pull lever
The locking being arranged on 2743 pulls hole socket, so as to drive the locking pull lever 2743 to be moved, to drive one
A little front-end architectures execute relevant action.In this process, other dependency structures are also driven, such as catch bar 231.
As illustrated in figs. 25-27, the rotation transmission subunit includes：Rotary head 271, spring catch 2711, rotating base
272, locking level 274 and locking pull lever 2743, staple cartridge tray 111 are connect with rotary head 271 by spring catch 2711；Rotary head
271 are connect with 272 side of rotating base by latch structure 2722, rotary head 271 can around rotating base 272 shaft circumferentially
Rotation；One locking guide groove 2723 is arranged at 272 bottom of rotating base, and being cased with Lock spring 2741 on locking level 274 is placed in locking
In guide groove 2723, locking level 274 can the sliding in locking guide groove 2723.The rotary head 271 is equipped with ratchet 2712, institute
Stating 2712 end of ratchet has 7 teeth, and there are dentalation 2742, dentation knot in the side that is in contact with ratchet 2712 of the locking level 274
Structure 2742 can block any one tooth in ratchet 2712, and limitation rotary head 271 rotates.
The one end of locking level 274 far from rotary head 271 is equipped with groove, and locking pull lever 2743 passes through this with locking level 274
Groove mutually links.The other end of the locking pull lever 2743 far from locking level 274 is clamped with rotation STATEMENT OF FEDERALLY SPONSORED 253.
Rotation fresh idea 251 is pulled to far from 111 direction of resist-nailed seat, rotary joint 252, rotation STATEMENT OF FEDERALLY SPONSORED can be pulled successively
253, pull lever 2743 and locking level 274 are locked, when dentalation 2742 is detached with ratchet 2712, rotary head 271 can rotate
The 272 shaft rotation of dynamic pedestal.Suitable angle is turned to, rotary joint 252 is unclamped, 2712 one of tooth of the ratchet can quilt
Dentalation 2742 blocks, the above process, can achieve the purpose that rotate staple cartridge tray 121 and resist-nailed seat 111.
As shown in figure 28, it is automatic reset structure schematic diagram；As shown in figure 29, it is rotational structure schematic diagram.It is described automatic
Reset unit includes rotating base 272, rotary head 271 and release link 273.The rotating base 272 is as the unit that automatically resets
Main body supporting structure, play the role of support to the rotary head 271 and the release link 273.
Reset guide groove 2721 identical with 273 quantity of the release link, the reset are provided on the rotating base 272
Guide groove 2721 close to one end of the rotary head 371 have opening, it is described reset guide groove 2721 far from the rotary head 271 one
End is provided with plug.
The reset guide groove 2721 is used to provide the space of sliding for the release link 273, includes in the release link 273
The one reset limited block 2731 swelled, the reset limited block 2731 play position-limiting action, for preventing the release link 273 from deviating from
The reset guide groove 2721, corresponding 2721 middle end of upper section of reset guide groove is provided with can be logical for the reset limited block 2731
The open segment crossed.
The release link 273 is division limits with the reset limited block 2731, including after reset front end 2733 and reset
End 2732, the reset front end 2733 are partially disposed with the reset rear end 2732 in the reset guide groove 2721,
The direction of motion of the release link 273 is set to be limited by the reset guide groove 2721.The reset front end 2733 includes a reset
Contact head 2734, it is described to reset 2713 moment of the rotated prominent end conflict being arranged on contact head 2734 and the rotary head 271, shape
At resistance surface.It is attached by latch structure 2722 between the rotary head 271 and the rotating base 272, makes the rotation
First 271 can be rotated around the latch structure 2722.
Locking guide groove 2723 is provided on the rotating base 272 to be used to provide accommodating space for locking level 274.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive
's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it,
It changes or even equivalent, but falls in protection scope of the present invention.
Claims (7)
1. a kind of articulation structure, to realize the servo-actuated action of a stapler, which is characterized in that the articulation knot
Structure includes：
One trigger element, to realize that a first angle rotates；The trigger element includes：One rotational handle, the rotation
Handle is the operation handle of the articulation structure；One rotate gear, the rotate gear is for transmitting the rotational handle
Operating force, the rotate gear be equipped with tooth-shape structure；
One first transfer unit, the first angle to generate the trigger element are converted into one first translation；Institute
Stating the first transfer unit includes：One sliding block and a linkage portion, the sliding block bottom are equipped with an inclined ramp, the sliding block
It is moved along the second translational direction；The inclined ramp is slidably connected with described linkage portion one end, and the inclined ramp is used for the
Two translations are converted into first translation；The sliding block side is equipped with and is meshed with the tooth-shape structure in the rotate gear
Slide rack；
One second transfer unit, to convert first translation to second angle rotation；Second transfer unit
Including an eccentric projection gear, or it include the transferring structure sequentially connected and composed by a rack piece, one-stage gear and secondary gear；
One execution unit turns to convert the second angle of second transfer unit to the corresponding first angle
Dynamic third angle rotation；The execution unit includes a rotary head, and described rotary head one end is covering of the fan tooth-shape structure, described
Covering of the fan tooth-shape structure is engaged with the eccentric projection gear or the secondary gear；
The first angle rotates degree of rotation<360 degree.
2. articulation structure as described in claim 1, which is characterized in that the linkage portion includes：One catenating slider is used
It is slided in the insertion inclined ramp and along the inclined ramp；One rotation STATEMENT OF FEDERALLY SPONSORED, is used to rotate with the catenating slider
Cooperation；One locking pull lever is used to extend the transmission distance of first translation；The rotation STATEMENT OF FEDERALLY SPONSORED is internally provided with a public affairs
Head/female, the locking pull lever one end are equipped with corresponding female/male connector, and the male connector in the rotation STATEMENT OF FEDERALLY SPONSORED/
Female and the female/male connector of described locking pull lever one end are mutually clamped.
3. articulation structure as claimed in claim 2, which is characterized in that be provided with a bias on the eccentric projection gear
Convex block, the eccentric projection are located at the non-center location on the eccentric projection gear, and the eccentric projection is cylinder；It is described
Pull lever other end setting one stroke hole is locked, the eccentric projection is placed in the stroke hole, and the locking pull lever is along institute
The movement of the first translational direction is stated, the eccentric projection gear is driven to be rotated around the gear center of circle；The stroke hole is parallel to described
The size of one translational direction is identical as the eccentric projection diameter dimension, and the stroke hole is perpendicular to first translational direction
Size is more than the diameter dimension of the eccentric projection.
4. articulation structure as claimed in claim 2, which is characterized in that rack piece one end and the locking pull lever
It being fixedly connected, the rack on piece is equipped with tooth, and the one-stage gear is engaged with the secondary gear and can be rotated around respective axis,
The rack piece is engaged with the one-stage gear.
5. the articulation structure as described in claim 1-4 is any, which is characterized in that the rack both sides of sliding are respectively provided with one
Slide limited block；It is provided with anti-dropout end face on the execution unit, is more than limitation for preventing the rotary head rotational angle.
6. articulation structure as claimed in claim 5, which is characterized in that the articulation structure further includes that a rotation connects
Head is provided with a slider throughbores on the rotary joint, and the slider throughbores are for placing the sliding block and limiting the cunning
Row block is moved along the second translational direction.
7. a kind of stapler with the articulation structure as described in claim 1-4 any claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403158.2A CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610403158.2A CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
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| Publication Number | Publication Date |
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| CN105962981A CN105962981A (en) | 2016-09-28 |
| CN105962981B true CN105962981B (en) | 2018-10-02 |
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| CN201610403158.2A Active CN105962981B (en) | 2016-06-08 | 2016-06-08 | A kind of articulation structure and the stapler with the structure |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111956288B (en) * | 2016-11-30 | 2022-05-20 | 北京派尔特医疗科技股份有限公司 | Nail bin rotation control device of endoscope anastomat |
| CN107693068B (en) * | 2017-10-25 | 2020-09-08 | 宁波维尔凯迪医疗器械有限公司 | Angle changing mechanism and anastomat with same |
| CN110559030A (en) * | 2018-06-06 | 2019-12-13 | 重庆西山科技股份有限公司 | Anastomat bending actuating mechanism and anastomat |
| CN109431568B (en) * | 2018-12-18 | 2024-01-30 | 逸思（苏州）医疗科技有限公司 | Auxiliary device for anastomat and anastomat |
| CN111803162B (en) * | 2020-08-19 | 2023-06-30 | 苏州越众生物科技有限公司 | Medical linear cutting anastomat with large-angle joint |
| CN112617929B (en) * | 2020-12-04 | 2021-10-29 | 苏州法兰克曼医疗器械有限公司 | Tool rest rotating bracket for linear cutting anastomat |
| CN114073554B (en) * | 2022-01-19 | 2022-04-15 | 江苏泰科博曼医疗器械有限公司 | Minimally invasive surgery suture end locking device and method and operation gun body |
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| CN105962981A (en) | 2016-09-28 |
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